Hey Dad! actor Robert Hughes whispered “good girl” after approaching a child while she slept and forcing her to perform a sex act, a Sydney court has heard.

A second alleged victim of the actor gave evidence via video link on Wednesday, the third day of the 65-year-old’s high-profile trial.

Hughes has pleaded not guilty to 11 sexual and indecent assault charges linked to allegations he abused five girls in the 1980s and 1990s.

On Wednesday, one alleged victim recalled sleeping over at the Hughes house on Sydney’s north shore in the early 1980s.

“We had gone to bed and I remember Robert coming in and telling me to roll over and then he put my hand with his hand on his penis,” she told the court.

“And afterwards he told me to go back to sleep, and ‘Good girl’, and he would say things in my ear ... I didn’t really look. I kept my eyes shut.”

She said he would speak softly because his family was home at the time.

The woman, who cannot be named, said she took to sleeping on her hands when she was staying at the house but the abuse did not stop.

“He was like, `come on, roll over’, and obviously I didn’t fight him because I was only little, and he rolled me over and started making me masturbate him,” the witness said.

“(Then) he gave me my teddy back and told me to go back to sleep.”

She said she began making up excuses not to go over to the house until eventually, at the age of seven, she told her parents what had happened.

She went to police in 2010 after media reports about other alleged victims of Hughes began to appear.

Earlier on Wednesday, the court heard from the high school boyfriend of another victim.

He said his then-girlfriend had become distressed around Christmas 1986, telling him the star of Hey Dad! had abused her during dinner parties hosted by her parents years earlier.

“Late in the evenings when it was bedtime, Robert would be fairly insistent that he would take the children by himself and take them to bed and then he would put his hand underneath the sheets,” the witness remembered his then-girlfriend telling him.

But Hughes’ barrister Greg Walsh suggested Hey Dad! did not air until the year after that conversation was said to have taken place.